摘要
介绍了基于通用工业机器人柔性在线视觉检测系统的坐标测量原理。为了获得封闭和准确的系统坐标变换链,以MD—H模型为基础建立了机器人的距离精度校准模型,同时,对多个校准点运用奇异值分解的形式分步求解旋转矩阵和平移矩阵,实现机器人基础坐标系与激光跟踪仪坐标系之间的配准,进而完成多台机器人基础坐标系与车身坐标系的统一。实验表明:该方法操作简单,能够获得±0.30 mm的标定精度。
The coordinate measurement principal of flexible and on-line visual inspection system based on universal industrial robot is introduced. In order to obtain closed-loop and accurate coordinate transformation, distance accuracy calibration model of robot is established by adopting MD-H convention. The same calibration points used to compensate link parameters are registered to the laser tracker coordinate based on singular value decomposition. The transformations from the robot base frames to the car fame are determined. Experiment results show that the method is practical with simple operation and satisfactory precision of ±0.30 mm.
出处
《传感器与微系统》
CSCD
北大核心
2010年第2期83-86,共4页
Transducer and Microsystem Technologies
基金
国家自然科学基金资助项目(50805105)
国家"863"计划资助项目(2008AA042407)
关键词
工业机器人
车身检测
距离精度
配准
industrial robot
ear body inspection
distance accuracy
registration
